FAQs

Welcome to the ORB-SLAM3-ROS2-Docker FAQ Page!

1. How to use the publish_tf and odometry_mode parameters?

If the publish_tf parameter is set to true:

The SLAM wrapper will try to send transformations via the ROS 2 TF library. The general convention of the TFs is map -> odom -> base_footprint. If the parameter odometry_mode is set to true, it means the transform between odom and base_footprint already exists in the system. In this case the wrapper will try to listen to this transform and consequently publish map -> odom resulting in the overall tree map -> odom -> base_footprint.

In some cases, the users might be working without on-board odometry. In this case, the odometry_mode should be set to false. If this is done, the wrapper will not listen to the transform between odom and base_footprint. The transform between map and base_footprint will directly be sent out resulting in map -> base_footprint instead of map -> odom -> base_footprint.

If the publish_tf parameter is set to false:

No transformations will be published. Only tracking will be performed.